329 lines
12 KiB
C++
329 lines
12 KiB
C++
#pragma once
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#include <cxxabi.h>
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#include <iostream>
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#include <concepts>
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#include <functional>
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#include <memory>
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#include <string_view>
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#include <tuple>
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#include <unordered_map>
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#include <variant>
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namespace mcc::fsm
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{
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namespace traits
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{
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/*
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The only requirement to Event-class is public-accepted static constant 'ID'
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*/
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template <typename T>
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concept fsm_event_c = std::is_default_constructible_v<T> && std::is_move_constructible_v<T> && std::movable<T> &&
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requires { requires std::same_as<const std::string_view, decltype(T::ID)>; };
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/*
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The only requirements to State-class is public-accepted static constant 'ID' and
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definition of type transition_table_t
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*/
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template <typename T>
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concept fsm_state_c =
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std::is_default_constructible_v<T> && std::is_move_constructible_v<T> && std::movable<T> && requires {
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requires std::same_as<const std::string_view, decltype(T::ID)>;
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typename T::transition_t;
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};
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// concept for std::pair
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template <typename T>
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concept fsm_pair_of_types_c =
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requires { []<typename T1, typename T2>(std::type_identity<std::pair<T1, T2>>) {}(std::type_identity<T>()); };
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template <typename T>
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concept fsm_tuple_of_pairs_c =
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requires { []<fsm_pair_of_types_c... PTs>(std::type_identity<std::tuple<PTs...>>) {}(std::type_identity<T>()); };
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template <typename T>
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concept fsm_tuple_of_events_c =
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requires { []<fsm_event_c... EvTs>(std::type_identity<std::tuple<EvTs...>>) {}(std::type_identity<T>()); };
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} // namespace traits
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/* Event-to-State transition table definition */
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template <traits::fsm_pair_of_types_c... PTs>
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struct fsm_transition_table_t;
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template <traits::fsm_pair_of_types_c PT>
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struct fsm_transition_table_t<PT> {
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using events_t = std::tuple<typename PT::first_type>;
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using event_state_pair_t = PT;
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using unique_states_t = std::tuple<typename PT::second_type>;
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template <typename EvT>
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using find_state_by_event_t =
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std::conditional_t<std::same_as<EvT, typename PT::first_type>, typename PT::second_type, void>;
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};
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template <traits::fsm_pair_of_types_c PT, traits::fsm_pair_of_types_c... PTs>
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struct fsm_transition_table_t<PT, PTs...> {
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private:
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static constexpr bool non_unique_event = (std::same_as<typename PTs::first_type, typename PTs::first_type> || ...);
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public:
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using events_t =
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std::conditional_t<non_unique_event,
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typename fsm_transition_table_t<PTs...>::events_t,
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decltype(std::tuple_cat(std::declval<std::tuple<typename PT::first_type>>(),
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std::declval<typename fsm_transition_table_t<PTs...>::events_t>()))>;
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using event_state_pair_t =
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std::conditional_t<non_unique_event,
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typename fsm_transition_table_t<PTs...>::event_state_pair_t,
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decltype(std::tuple_cat(
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std::declval<std::tuple<PT>>(),
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std::declval<typename fsm_transition_table_t<PTs...>::event_state_pair_t>()))>;
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using unique_states_t = std::conditional_t<
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non_unique_event,
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typename fsm_transition_table_t<PTs...>::unique_states_t,
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std::conditional_t<(std::same_as<typename PT::second_type, typename PTs::second_type> || ...),
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typename fsm_transition_table_t<PTs...>::unique_states_t,
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decltype(std::tuple_cat(
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std::declval<std::tuple<typename PT::second_type>>(),
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std::declval<typename fsm_transition_table_t<PTs...>::unique_states_t>()))>>;
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private:
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template <typename EvT, traits::fsm_tuple_of_pairs_c TplT>
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struct find_state_by_event;
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template <typename LookEvT, typename EvT, typename StT>
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struct find_state_by_event<LookEvT, std::tuple<std::pair<EvT, StT>>> {
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using state_t = std::conditional_t<std::same_as<LookEvT, EvT>, StT, void>;
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};
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template <typename LookEvT, typename EvT, typename StT, traits::fsm_pair_of_types_c... PairTs>
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struct find_state_by_event<LookEvT, std::tuple<std::pair<EvT, StT>, PairTs...>> {
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using state_t = std::conditional_t<std::same_as<LookEvT, EvT>,
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StT,
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typename find_state_by_event<LookEvT, std::tuple<PairTs...>>::state_t>;
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};
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public:
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// template <typename EvT, traits::fsm_tuple_of_pairs_c TplT>
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template <typename EvT>
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using find_state_by_event_t = typename find_state_by_event<EvT, event_state_pair_t>::state_t;
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};
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class MccFiniteStateMachine
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{
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protected:
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/* helper types definition */
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// merge N std::tuple types with filtering dublicates
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// (NOTE: the first std::tuple must contain unique types!!!)
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template <typename... TplTs>
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struct merge_tuples;
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template <typename TplT>
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struct merge_tuples<TplT> {
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using result_t = TplT;
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};
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template <typename TplT1, typename TplT2>
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struct merge_tuples<TplT1, TplT2> {
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using result_t = TplT1;
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};
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template <typename... T1, typename T2, typename... T2s>
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struct merge_tuples<std::tuple<T1...>, std::tuple<T2, T2s...>>
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: std::conditional_t<(std::same_as<T1, T2> || ...),
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merge_tuples<std::tuple<T1...>, std::tuple<T2s...>>,
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merge_tuples<std::tuple<T1..., T2>, std::tuple<T2s...>>> {
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};
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template <typename TplT1, typename TplT2, typename TplT3, typename... TplTs>
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struct merge_tuples<TplT1, TplT2, TplT3, TplTs...>
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: merge_tuples<typename merge_tuples<TplT1, TplT2>::result_t, TplT3, TplTs...> {
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};
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template <typename... TplTs>
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using merge_tuples_t = typename merge_tuples<TplTs...>::result_t;
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// deduce all unique states from the initial one
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template <bool stop, typename ResTplT, typename... InTplTs>
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struct deduce_states;
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template <typename ResTplT, typename... InTplTs>
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struct deduce_states<true, ResTplT, InTplTs...> {
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using states_t = ResTplT;
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};
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template <typename ResTplT, traits::fsm_state_c... StTs, typename... InTplTs>
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struct deduce_states<false, ResTplT, std::tuple<StTs...>, InTplTs...> {
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using curr_collection_t =
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merge_tuples_t<ResTplT, std::tuple<StTs...>, typename StTs::transition_t::unique_states_t...>;
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using states_t = typename deduce_states<std::tuple_size_v<ResTplT> == std::tuple_size_v<curr_collection_t>,
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curr_collection_t,
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typename StTs::transition_t::unique_states_t...,
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InTplTs...>::states_t;
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};
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template <traits::fsm_state_c InitStateT>
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using deduce_states_t = typename deduce_states<false, std::tuple<>, std::tuple<InitStateT>>::states_t;
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// deduce all unique events from the initial state transition table
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template <bool stop, typename ResTplT, typename... InTplTs>
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struct deduce_events;
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template <typename ResTplT, typename... InTplTs>
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struct deduce_events<true, ResTplT, InTplTs...> {
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using events_t = ResTplT;
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};
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template <traits::fsm_state_c StT>
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struct deduce_events<false, typename StT::transition_t::events_t, std::tuple<>> {
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using curr_collection_t = typename StT::transition_t::events_t;
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using events_t = typename deduce_states<false,
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curr_collection_t,
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typename StT::transition_t::events_t,
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typename StT::transition_t::unique_states_t>::events_t;
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};
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template <traits::fsm_tuple_of_events_c ResTplT,
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traits::fsm_tuple_of_events_c... EvTplTs,
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traits::fsm_state_c... StTs,
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typename... InTplTs>
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struct deduce_events<false, ResTplT, EvTplTs..., std::tuple<StTs...>, InTplTs...> {
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using curr_collection_t = merge_tuples_t<ResTplT, EvTplTs...>;
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using events_t = typename deduce_states<std::tuple_size_v<ResTplT> == std::tuple_size_v<curr_collection_t>,
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curr_collection_t,
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typename StTs::transition_t::events_t...,
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typename StTs::transition_t::unique_states_t...>::events_t;
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};
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template <traits::fsm_state_c InitStateT>
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using deduce_events_t = typename deduce_events<false, InitStateT>::events_t;
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// using deduce_events_t = typename deduce_events<false, std::tuple<>, std::tuple<>,
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// std::tuple<InitStateT>>::events_t;
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template <typename TplT>
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struct variant_from_tuple;
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template <typename... Ts>
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struct variant_from_tuple<std::tuple<Ts...>> {
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using variant_t = std::variant<Ts*...>;
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};
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template <typename TplT>
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using variant_from_tuple_t = typename variant_from_tuple<TplT>::variant_t;
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//
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template <typename EvTplT, typename FT, size_t... Is>
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static void for_each_event(FT&& func, std::index_sequence<Is...>)
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{
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(func(std::get<Is>(EvTplT{})), ...);
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};
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template <typename EvTplT, typename FT>
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static void for_each_event(FT&& func)
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{
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for_each_event<EvTplT>(std::forward<FT>(func), std::make_index_sequence<std::tuple_size_v<EvTplT>>());
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};
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template <traits::fsm_event_c EvT>
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inline static std::unordered_map<const MccFiniteStateMachine*, std::function<void(EvT&)>> _dispatchEventFunc{};
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public:
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template <traits::fsm_state_c InitStateT>
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MccFiniteStateMachine(InitStateT)
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{
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using states_t = deduce_states_t<InitStateT>;
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auto states = std::make_shared<states_t>();
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auto currentState = std::make_shared<variant_from_tuple_t<states_t>>();
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*currentState = &std::get<InitStateT>(*states);
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int status;
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char* aa = abi::__cxa_demangle(typeid(states_t).name(), NULL, NULL, &status);
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std::cout << "states_t = " << aa << '\n';
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free(aa);
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/*
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aa = abi::__cxa_demangle(typeid(deduce_events_t<InitStateT>).name(), NULL, NULL, &status);
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std::cout << "events_t = " << aa << '\n';
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free(aa);
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// setup dispatch event functions
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for_each_event<deduce_events_t<InitStateT>>([states, currentState, this]<traits::fsm_event_c EvT>(EvT) {
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_dispatchEventFunc<EvT>[this] = [states, currentState, this](EvT& event) {
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std::visit(
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[&event, states]<traits::fsm_state_c curr_state_t>(curr_state_t*) {
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using to_state_t = curr_state_t::trasition_table_t::template find_state_by_event_t<EvT>;
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if constexpr (std::is_void_v<to_state_t>) {
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/// throw?!!
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return;
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}
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// exit from current
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if constexpr (requires(curr_state_t inst) {
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{ inst.exit(std::declval<EvT>()) };
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}) {
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std::get<curr_state_t>(states).exit(event);
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} else if constexpr (requires(curr_state_t inst) {
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{ inst.exit() };
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}) {
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std::get<curr_state_t>(states).exit();
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}
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// transit ...
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if constexpr (requires(EvT inst) {
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{ inst.on_transit() };
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}) {
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event.on_transit();
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}
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// enter to new
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if constexpr (requires(to_state_t inst) {
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{ inst.enter(std::declval<EvT>()) };
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}) {
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std::get<curr_state_t>(states).enter(event);
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} else if constexpr (requires(to_state_t inst) {
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{ inst.enter() };
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}) {
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std::get<curr_state_t>(states).enter();
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}
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},
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currentState);
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};
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});
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*/
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}
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template <traits::fsm_event_c EvT>
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auto dispatchEvent(EvT& event)
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{
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_dispatchEventFunc<EvT>[this](event);
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}
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};
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} // namespace mcc::fsm
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